APM2.5ユーザーガイド
Contents
1. APM2 5 User Guide Version 1 0 1 APM APM USB2. 1 2 Firmware 3 USB APM l Installing Device Drivers Successfully Installed Arduino Mega 2560 COM XX 4 APM COM 115200 5 Yes 11 APM2 5 User Guide Version 1 0 6
3. Inputs APM APM hi bi Wia bhk d MA Wb x blo 5 9 i m TALIT ANALOG SEBBBEBEB T1 S ee 5 OUTPUTS S E3 x 1 APM2 5 User Guide Version 1 0 INPUTS FROM RECEIVER 000000 POWER TO RECEIVER oe 2 APM Inputs APM 5V 2 6ch 7ch Sch 5V 6V ESC APM Output 3 ESC
4. Arduino IDE AP_OpticalFlow test sketch 28 APM2 5 User Guide Version 1 0 04 Communication gt File Edit Sketch Tools Help 05 Control gt Ctr N 06 Sensors Open Ctrl O 07 Display Sketchbook gt 08 5trings DUB s Close Ctr W ArduinoISP Save Ctr S AC_PID Save As Ctr Shift S AP ADC Upload Ctr U AP AHRS f Upload Using Programmer Ctrl Shift U MES Page Setup Ctr Shift P AP AnalogSource Print Ctr P AP Baro gt Preferences Ctr Comma SE i AP Declination gt Quit Ctrl Q AP GPS gt AP_IMU gt AP InertialNav gt AP _InertialSensor gt AP LeadFilter gt AP_Math gt AP_Menu gt AP_Motors gt AP Navigation gt AP_PeriodicProcess j AP_PID 2 AP RangeFinder gt G9 AP OpticalFlow test Arduino 1 0 1 File Edit Sketc Auto Format Ctrl T Archive Sketch Fix Encoding amp Reload Serial Monitor AP OpticalFlox Ctrl Shift M Ex ample o Code by Ri Board Serial Port include lt Fas include AP include AP Burn Bootloa
5. GPS GPS disarm stabilize Loiter Auto 33
6. Pitch 13 APM2 5 User Guide Version 1 0 10 ME FI Click when Done Cy Mission Planner 12 6 mav 1 0 et m j COM16 van Link Stats Flight Data Flight Planner imulation _ rmware T Help wn 1 u i nep Radio Calibration EE 8 6 nm Bl Reverse Roll 1528 b E Reverse Pitch Throttle 1525 1110 cel m 1 07 5 Flight Modes we Mission Planner 1 2 10 mav 1 0 Firmware ee aso Curent Mode Stabilize Cument PWM 5 867 Hight Mode 1 Stabilize Simple Mode PWM 0 1230 Fight Mode 2 Simple Mode PWM 1231 1360 Fight Mode 3 EI Simple Mode PWM 1361 1490 Fight Mode 4 Simple Mode PWM 1491 1620 Fight Mode 5 EI Simple Mode PWM 1
7. AUTO Stabilize Way Point I Way Point 2 lt 3 Way Point RETURN TO_LAUNCH Way Point 15 GPS ALT_HOLD_RTL GPS 2 Loiter Stabilize APPROACH_ALT
8. COM16 Link Stats Stabilize 010 Mouse Location Lat 3559355554 GPS No Fix Long 139 8094689 A i Status loaded tiles groundspeed wp_dist HEB Rs i 0 35 5959721 139 8078489 15 lo Home Location PER kyrolNT M 35 5954400 139 8067868 15 X Lat 3559476821 yaw E RETURN TO LAUNCH 0 Long 139 8088037 verticalspeed At abs DistToMAV 0 6 04 Bl Tuning Auto Pan Zoom TN ei Ht E IE ng I APM GPS Google map 1 USB APM 20 Connect Filight Planner Flight Date
9. 2 5 Roll Pitch Throttle Yaw Radio 5 7 9 Xt f f Radio j j f A Roll 7 M 1 Throttle I 9 Calibrate Radio 180 x 1 8 x 2 Reverse
10. Circle GPS WP_LOITER_RAD Guided Flight Data Guided Flight Data Fly to here Guided Land Loiter GPS OF Loiter Loiter
11. 3 APM 13 APM fh dl EA didi o 00 Link Stats 1002 17 34 43 AS 0 0 SEAS GS 0 0 020 I Bat 10 08v 0 GPS No Fix ch3percent E Tuning W Auto Pan Ix 13 4 5 ARMED APM 5 2 DISARMED APM 6 Stabilize Status ch1in ch8in APM ch1out ch8out
12. APM2 5 User Guide Version 1 0 ESC x S he RC AUC ACER Z7 OUTPUT TO MOTORS 6 6 6 5 POWER IN FROM PDB 3 Output ESC 3 OUT1 OUT2 OUT3 R ESC OUTI L ESC OUT2 F ESC OUT3 EE B ESC OUT4 APM2 5 User Guide Version 1 0 ESC 8 7 65 5 1413 27 OUTPUTS QUAD X gD CLOCKWISE ROTATION COUNTER CLOCKWISE ROTATION 0 USE PUSHER PROPELLER USE NORMAL PROPELLER 4 X 4 APM X 3 APM OUT3
13. 6 Way Points APM Write WPs Configuration Flight Modes AUTO Stabilize Simple Mode Simple Mode Simple Mode A _ 4 Mission Plann r er WES BIO CE Curent Mode Stabilize Flight Modes Curent PWM 5 2076 Fight Mode 1 I Simple Mode PWM 0 1230 Fight Mode 2 E Simple Mode PWM 1231 1360 Fiight Mode 3 Simple Mode PWM 1361 1490 Fight Mode 4 l Simple Mode PWM 1491 1620 Fight Mode 5 BEL Mode PWM 1621 1749 Fight Mode 6 2 Simple Mode PWM 1750 Stabilize 10
14. Flight Planner Home Lat Way Points 2 2 Way Point APM2 5 User Guide Version 1 0 5 Way Point 2 Add Belowy 3 EX Command RETURN TO_LAUNCH GPS
15. APM 1 ESC ESC A ESC 5 10 APM 16 APM2 5 User Guide Version 1 0 8 APM 1 2 USB APM COM
16. 17 APM2 5 User Guide Version 1 0 1 APM 2 3 APM ESC 12 APM 4 5 APM 5 1 4 5 ESC 3 2 7
17. 21 APM2 5 User Guide Version 1 0 1Stabilize 11 logs APM Ilogs 1 USB APM 2 COM 3 Terminal Log Download GO Mission Planner 1241 mav LU Se X N RS ED 7 NOTE CLI Works over USB only Opened com port i Init ArduCopter V2 7 3 Free RAM 1313 is FW Ver 0 load all took 588Dus Press ENTER 3times for CLI GArduCopter V2 7 3 logs B logs enabled ATTITUDE MED GPS PM CTUN NTUN CMD 3logs Log 1 stat
18. URL http code google com p ardupilot mega downloads list x Downloads ardupilot me mmm UDIlOt mega Wiki Issues Source Administer Project Home Downloads New download Search Current downloads for ilename v Summary Labels v MissionPlanner64 1 2 6 msi Mission Planner installer 64 bit MissionPlanner32 1 2 6 msi Mission Planner installer 32 bit 33 APM Planner Setup y APM Planner Setup End User License Agreement Welcome to the APM Planner Setup Please read the following license agreement carefully Wizard Common Public License Version 1 0 The Setup Wizard will install APM Planner on your computer Click Next to continue or Cancel to exit the Setup Wizard THE ACCOMPANYING PROGRAM IS PROVIDED UNDER THE TERMS OF THIS COMMON PUBLIC LICENSE AGREEMENT ANY USE REPRODUCTION OR DISTRIBUTION OF THE PROGRAM CONSTITUTES RECIPIENT S ACCEPTANCE OF THIS AGREEMENT 1 DEFINITIONS Contribution means YI accept the terms in the License Agreement APM2 5 User Guide Version 1 0 Next TI accept the terms in the License Agreement Next i9 APM Planner SE nn Destination Folder Click Next to ins
19. Done x ission Planner 1 2 6 mav 1 0 E LOL ze ArduPlane V2 50 ArduCopter V2 7 1 Quad ArduCopter V2 7 1 Hexa ArduCopter V2 7 1 Octa V ArduCopter V2 7 1 Heli 2560 only 1Ti ArduCopter V2 7 1 Octa ea versions HIL SIMULATOR 4 ArduCopter 1 USB APM 2 APM COM 115200 3 8 Connect 3 Configuration 12 APM2 5 User Guide Version 1 0 c 7 v 1120 v Radio Calibration 8 4 Radio Calibration 8
20. Mode 1 Radio 6 Mode 2 Radio 6 c f J Radio 5 P 2 Roll Pitch Yaw Throttle Stabilize Stabilize Stabilize Loiter Auto X Loiter GPS x Auto 18 APM2 5 User Guide Version 1 0 9 Arduco
21. 32 APM2 5 User Guide Version 1 0 B DIYDrones Japan ArduCopter 1 http www diydrones com 2 Sign Up 3 4 Unmanned Aerial Vehicle is abbreviated as UA What s the missing letter V 5 Sign Up 6 http diydrones com group japan arducopter grouD 7 Join Japan ArduCopter group CC
22. APM2 5 User Guide Version 1 0 ESC X X V 5 APM X 5 APM OUT5 OCTA OCTA X APM2 5 User Guide Version 1 0 2 ArduPilot URL Zion Windows Windows7 32bit Windows XP URL MissionPlanner32 1 2 6 msi URL http code google com p ardupilot mega downloads list e Windows 64 bit URL MissionPlanner64 1 2 6 msi
23. GPS Position Hold Loiter Stabilize roll pitch throttle yaw RTL Return to Launch 15m 1 GPS 2m 2 Loiter Stabilize x 1 ALT HOLD RTL x 2 APPROACH ALT RTL Toy yaw roll pitch roll pitch yaw
24. Plus X 15 APM2 5 User Guide Version 1 0 T APM ESC ESC 2 1 ESC ESC 2 APM x lt NS APM 3 APM ESC Co
25. 1 end 2 Loq2 start 3 end 7 u Log3 start8 end 8 Log 4 Download These Log APM 5 Log Browse og 22 APM2 5 User Guide Version 1 0 I APM Planner logs _ __ Organize New folder Name Libraries Date modified 2012 09 04 22 22 13 log 04 09 2012 10 23 Text Documen l Documents m Git a Music i Pictures 2012 09 04 21 54 11 log RateD008vs002 allowRatelbuildup log RateD008vs002 log 2012 08 26 00 11 2 log 2012 08 26 00 11 1 log 2012 08 24 09 39 1 log ill Computer 2012 08 22 23 08 9 log ACM2J 2 ticksWithPIDLogging log amp 0s C ACM2 1 VerySmallTicksMaybe loq cx Recovery D E Subversion B Videos File name 2012 09 04 22 22 13 log 04 09 2012 9 54 PM 6 08 2012 11 52 6 08 2012 11 09 6 08 2012 12 12 6 08 2012 12 11 8 2012 9 39 AM 2 08 2012 11 08 2 08 2012 10 44 08 2012 10 21 ext Documen Text Documen Text Documen Text Doc Text Doc Text Doc Text Docume Text Docume Text Documen
26. 5 User Guide Version 1 0 APM2 FWD INPUTS Mir 535 NE abc MEO d ds ui Wi bU MEX Bi EN Vo v5 Mo MU mU Mo Me EMBEBAR NN N xs 22222220007 o Os 88888 amp 88 amp 88 JE ANALOG BEBSBBBBEB BE s SS Mu v 54 n a a NS NU aua Mi MU WU NE OUTPUTS S APM2 5 27 APM2 5 User Guide Version 1 0 Solder a bridge between 3V3 pad and center pad Cut trace between 5V and center pad T EE ita T CS uM TEL mm L HTTTETTT LTITRRITTII ESTIEETTTERTTTERTTEE ELEF r4 E NE 2 5 E E u T
27. Log Files log Cancel 6 Log Browse Window Graph this Data FOR 19 Roll nm Roll Value Graph Yale 1400 Line Number Roll IN UL ES 0 00 Fitch IN 0 00 Pitch 017 Ya Ww IN 4 12 13 7 Mission Planner C Program Files x86 APM PlannerXlogs kmz Google Earth 23 APM2 5 User Guide Version 1 0 Eile Edit View Tools Add Help w Search Fly to e g Hotels near JFK Q v Places BS Log X s 1 Flight Path STABILI El 2 Flight Path LOITER F 3 Flight Path STABILI M e 4 Flight Path LOITER 5 Flight Path AUTO M o 6 Flight Path STABILL Mif 7 Flight Path AUTO amp 8 Flight Path LOITER Y 2 9 Flight Path STABILI Qa lt 24 1 v Layers Earth Gallery gt 4 iu ER Primary Database au Borders and Labels Places Photos EE Roads 3D Buildings Ocean te Weather Gallery av Global Awareness D Mo
28. manual UNBEH HN B N viewing software 1 4 Python 2 7 doi PySerial2 5 http I pvthon org packages an serial serial 2 5 win32 exe md5 ea4579b9ad39a4f0171c3ec3da0a8212 ArduCopter code XlibrariesYAP OpticalFlowXexamplesYX ADNS3080ImageGrabberXADNS3080Image Grabber py ADNS3080ImageGrabber COM 30 APM2 5 User Guide Version 1 0 GPS OF LOITER G Mission Planner 1 2 14 mav 1 0 o 3 n 9 ZR Current Mode Alt Hold Flight Modes Curent PWM 5 1555 Fight Mode 1 EI Simple Mode PWM 0 1230 Fight Mode 2 EI Simple Mode PWM 1231 Fight Mode 3 EI Simpl
29. 621 1749 Fight Mode 6 simple Mode PWM 1750 11 1 Stabilize 4 Loiter Simple Mode 14 APM2 5 User Guide Version 1 0 7 Auto Simple Mode Save Modes A RE 1 Stabilize 6 Plus X ArduCopter Levell APM Calibrate Now APM 2 3 C Mission Planner 1 2 6 mav 1 0 Terminal Frame Setup Accelerometer Calibration Level your Multicopter to set default accelerometer offsets Calibrate Now
30. JAPAN DRONES AND ENROUTE APM2 5 Version 1 0 Randy Mackay Reina Nakano Tomoyuki Izu 2 14 2013 ArduCopter software AL Sue 9 y ATE DA AEAJC http www enroute co jp APM2 5 User Guide Version 1 0 APM2 5 User Guide Version 1 0 APM2 5 3dRobotics UAV APM2 5 ArduCopter DIYDrones http diydrones com APM2 5
31. der include lt 5PI h gt include lt 5PI3 h gt include lt rduino_Mega_ISR_Registry h gt Programmer h Vector Matrix ma rduino SPI library SPIS library include lt AP_PeriodicProcess h gt include AP Semaphore h include AP pticalFlow h for removing conflict with data ArduCopter pticalFlow Library Arduino Mega 2560 or Mega A jn COM16 Failed to initialise ADNS3080 29 e AP OpticalFlow test Arduino 1 0 1 File Edit Sketch Tools Help Upload Example of AP pticalFlow library Code by Randy Mackay DIYDrones con include FastSerial h include AP Common h include AP Math h include lt 5PI h gt include lt 5PI3 h gt include lt rduino_Mega_ISR_Registry h gt include AP PeriodicProcess h include AP Semaphore h include AP O pticalFlow h ArduPilot Mega Vector Matrix ma rduino SPI library SPIS library for removing conflict with data ArduCopter pticalFlow Library Arduino Mega 2560 or Mega ADK on COM16 APM2 5 User Guide Version 1 0 ArduPilot Mega OpticalFlow library test ver 1 5 Iiplease choose from the following options display all config set frame rate display image display image continuously display motion set resolution set shutter speed clear all motion frame rate auto
32. e Mode PWM 1361 Flight Mode 4 EI Simple Mode PWM 1491 Flight Mode 5 Stabilize 3 E Simple Mode PWM 1621 17 Flight Mode 6 Simple Mode PWM 1750 OF LOITER OF PIT P OF_ RLL P 6ch CH6_OPTFLOW_KP Mission Planner 1 2 14 mav 1 0 lt i WES LBeL zc Link Stats Stabilize Roll Stabilize Pitch Stabilize Yaw P m P Stabilize D Lock Pitch and Roll Values Rate Roll ArduCopter Config ottle Rate Crosstrack Correction Nav WP n nn nn UU U UU E 0 200 E L 003 000 Ch6 Opt Min i 000 Ch7 Opt 31 APM2 5 User Guide Version 1 0 A Acro roll pitch yaw AltHold roll pitch yaw Stabilize Auto
33. pter PID PID Configuration Arducopter Config 4 PID PID PID Write Params I Mission Planner 1 2 7 mav 1 0 op X Fi 4A u A E E r r o r G COM16 115200 Link Stats Stabilize Roll Stabilize Pitch Loiter Speed P P E Lock Pitch and Roll Values Rate Roll E 0 180 0 000 g ArduCopter Config Crosstrack Correction Gain PID http ja wikipedia org wiki PID E5 88 B6 E5 BE A1 19 APM2 5 User Guide Version 1 0 10 Arducopter Loiter Stabilize
34. re magery Date 4 6 2011 ib 2003 38 j O O 0O M 3 3 SI S LV EZ0 4m range XL EZO 7m range XL EZLO 10m range 24 APM2 5 User Guide Version 1 0 XL MaxSonar EZ0 Log pm B Se mnm Value Graph 1200 Line Number C3 Log Browse BR Sonar signal with filter z0 Line Number 25 APM2 5 User Guide Version 1 0 APM2 5 Input PoWer 10cm ESC JapanDrones http www japandrones com shopdetail 002007000009 order http www japandrones com shopdetail 002006000001 order 26 APM2
35. tall to the default folder or click Change to choose another 39 APM Planner Setup Ready to install APM Planner Install APM Planner to Click Install to begin the installation Click Back to review or change any of your installation settings Click Cancel to exit the wizard C Program Files x86 VAPM Planner Next Install J APM Planner Setup Completed the APM Planner Setup Wizard Click the Finish button to exit the Setup Wizard Finisnh APM Planner Mav 1 0 APM Planner p 10 APM2 5 User Guide Version 1 0 3 ArduCopter x Zion
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